Methods and apparatus for extending the reach of a dual scara robot linkage

Abstract

Methods and apparatus are provided for the use of a dual Selective Compliant Assembly Robot Arm (SCARA) robot. In some embodiments two SCARAs are provided, each including an elbow joint, wherein the two SCARAs are vertically stacked such that one SCARA is a first arm and the other SCARA is a second arm, and wherein the second arm is adapted to support a first substrate, and the first arm is adapted to extend to a full length when the second arm supports the first substrate, and wherein the first substrate supported by the second arm is coplanar with the elbow joint of the first arm, and the second arm is further adapted to move concurrently in parallel (and / or in a coordinated fashion) with the first arm a sufficient amount to avoid interference between the first substrate and the elbow joint of the first arm. Numerous other embodiments are provided.

Description

[0001]The present application claims priority to U.S. Provisional Patent Application Ser. No. 60 / 940,971, filed May 31, 2007 and entitled “Methods and Apparatus for Extending the Reach of a Dual Scara Robot Linkage”, which is hereby incorporated herein by reference in its entirety for all purposes.FIELD OF THE INVENTION[0002]The present invention is directed to the use of robots in substrate transfer chambers, and more particularly to dual SCARA robots used in extended reach applications.BACKGROUND OF THE INVENTION[0003]In multiple chamber electronic manufacturing systems it is desirable to have more than one semiconductor substrate in process at a time. In this way, the electronic manufacturing system is used to obtain maximum throughput. In the art, a robot arm used in an electronic manufacturing system must store one substrate or wafer, fetch and place another substrate, and then fetch and place the stored substrate. Although this improves use of the system and provides improved ...

AI Technical Summary

Benefits of technology

[0008]In other aspects of the invention, a dual Selective Compliant Assembly Robot Arm (SCARA) robot is provided. The robot comprises two SCARAs each including an elbow joint, wherein one SCARA is a first arm and the other SCARA is a second arm, and wherein the first and second arms are adapted to reach into the same slit valve, and wherein the second arm is adapted to support a substrate, and the first arm is adapted to extend to a full length when the second arm supports the substrate, and wherein the substrate supported by the second arm is coplanar with the elbow joint of the first arm, and the second arm is further adapted to move concurrently in parallel (and / or in a coordinated fashion) with the first arm a sufficient amount to avoid interference between the substrate and the elbow joint of the first arm.

[0009]In yet other aspects of the invention, a method is provided. The method comprises providing a dual SCARA robot including a first and second arm; supporting a first substrate on an end effector coupled to the second arm of the SCARA robot; extending the first arm of the SCARA robot to the first arm's full length; and moving the second arm concurrently with the extending first arm, wherein the second arm is moved a sufficient amount to avoid interference between the first substrate and the first arm.

Problems solved by technology

However, the costs associated with simply making the equipment larger can quickly become cost prohibitive, such as the increased cost of manufacturing space, for example.

Additionally, as will be further described below, larger equipment may also be undesirable as the larger volume in the processing and robot chambers, for example, may be more difficult keep at a lowest level of vacuum to minimize contamination.

Images